I printed TheCase's excellent mini-quadruped design, and I love the simplicity of the parts, but I wanted a third degree of freedom in the leg for more complete kinematics, so I slightly redesigned the leg parts.This also results in a slightly less bulky leg.For now, I've left off the servo buttons at the coxa joint, but I may go back and add them back in for smoother motion. If there's interest, I may workup a PCB which carries a Teensy 2.0 microcontroller board and provides power and support for twelve servos.Update: Video of its first gait! https://www.youtube.com/watch?v=VsHNA3oLXC8Parts needed:1 backbone 2 hips 2 coxa_right 2 coxa_left 4 femur 4 tibia12 9g servos. Design is optimized for Turnigy TG9e servos: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22928However, any 9g servo will work, but the printed parts may need to be tweaked a bit.